Add new View Controller to Navigation Table View controller in Interface Builder?

I have an app that has a table view controller embedded in a navigation controller. I would like to create another view controller in the navigation stack so that when a cell is tapped, the app goes to a detail view and maintains a back button in the leftBarButtonItem. What is the best way to create that relationship in interface builder with a storyboard?

I feel like I've done it before but I can't remember how or find a solution.